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</style></head><body><div class = "content"><div class = 'SectionBlock containment active'><h1 class = "S1"><span class = "S2">Encoder</span></h1><div class = "S3"><span class = "S2">Convert motor's mechanical angle feedback to pulse.</span></div><div class = "S3"><span class = "S2"></span></div><h2 class = "S4"><span class = "S2"># Model</span></h2><ul class = "S5"><li class = "S6"><span class = "S7">Looks</span></li></ul><h2 class = "S8"><img class="imageNode" width="260" height="159" style="vertical-align: baseline" src="
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TkSuQmCC"></div><h2 class = "S4"><span class = "S2"># Parameter</span></h2><ul class = "S5"><li class = "S6"><span class = "S7">encoder_count</span><span class = "S0">: the num of pulse in one round(2pi).</span></li><li class = "S6"><span class = "S7">Function</span><span class = "S0">: the Rounding function we use.</span></li></ul><h2 class = "S4"><span class = "S2"># Description</span></h2><ul class = "S5"><li class = "S6"><span class = "S7">Equation</span><span class = "S0">:</span></li></ul><div class = "S3"><span class = "S2">                Pulse = fix(MechAngle / (2*pi) * encoder_count);</span></div><ul class = "S5"><li class = "S6"><span class = "S7">input</span><span class = "S0">:   </span></li></ul><div class = "S3"><span class = "S2">                [MechAngle]: The input mechanical angle of motor.No limit.The unit is 'rad'.</span></div><div class = "S3"><span class = "S2"></span></div><ul class = "S5"><li class = "S6"><span class = "S7">output</span><span class = "S0">:</span></li></ul><div class = "S3"><span class = "S2">                [Pulse]:The converted pulse of mechanical angle.</span></div></div><div class = "S0"></div><div class = 'SectionBlock containment'><h2 class = "S10"><span class = "S2"></span></h2></div></div>
<!-- 
##### SOURCE BEGIN #####
%% Encoder
% Convert motor's mechanical angle feedback to pulse.
% 
% 
%% # Model
% * *Looks*
%% 
% 
% 
% * *Inside  of  the model*
% 
% 
%% # Parameter
% * *encoder_count*: the num of pulse in one round(2pi).
% * *Function*: the Rounding function we use.
%% # Description
% * *Equation*:
% 
%                 Pulse = fix(MechAngle / (2*pi) * encoder_count);
% 
% * *input*:   
% 
%                 [MechAngle]: The input mechanical angle of motor.No limit.The 
% unit is 'rad'.
% 
% 
% 
% * *output*:
% 
%                 [Pulse]:The converted pulse of mechanical angle.
%%
##### SOURCE END #####
--></body></html>